92 results about "Integral sliding mode" patented technology

The invention discloses a three-level inverter dual-tracking model prediction control method and an inverter, and the method comprises the steps: constructing an integral sliding mode observer, and obtaining a current prediction value and a lumped disturbance estimation value through the integral sliding mode observer; calculating a voltage error of the inverter, and substituting the voltage error into the PI controller to obtain a voltage tracking control item; based on the voltage tracking control term, a switching state that minimizes the cost function is selected to control the inverter. The integral sliding mode observer is configured to calculate a current prediction error between a current prediction value of a current control period and a system output current, introduce an integrator to track the current prediction error, and generate an error function based on an output result of the integrator and the current prediction error. And feeding back a current predicted value and a lumped disturbance estimated value of the next control period through an error function. According to the invention, the method can achieve the quick estimation of the operation state of the inverter and the robust compensation of disturbance, reduces the steady-state tracking error, and reduces the total harmonic distortion of the inverter.

The invention relates to the technical field of motor control, in particular to a control and parameter intelligent optimization method for an anti-impact high-precision PMSM (permanent magnet synchronous motor) feeding servo system, which comprises the following steps of: S1, establishing a physical structure and a dynamic model of a PMSM driving feeding system; s2, designing a variable gain fractional order super-spiral sliding mode controller VGFSTSMC, realizing finite time convergence of position tracking errors by dynamically adjusting and controlling gain coefficients, and inhibiting system jitter; s3, designing an adaptive sliding mode disturbance observer ASMDO, and estimating and compensating unknown disturbance in real time through adaptive gain adjustment and an integral sliding mode surface; s4, identifying a system Stribeck friction model based on a least square method, and inputting the system Stribeck friction model as a friction feedforward compensation FFC to a current loop to reduce the disturbance uncertainty of the system; s5, dynamically adjusting and optimizing control parameters of the VGFSTSMC and the ASMDO by adopting an optimization algorithm so as to minimize a root-mean-square value RMSE of a position tracking error and a maximum instantaneous error; and S6, VGFSTSMC, ASMDO and FFC are combined with an optimization algorithm, and the PMSM is driven to realize high-precision position control.

The invention relates to the technical field of mining permanent magnet synchronous motor sensorless control, and particularly discloses a composite sliding mode control and adaptive phase-locked loop collaborative optimization method. Aiming at the technical bottlenecks of a traditional control strategy in the aspects of rotating speed fluctuation suppression, load disturbance compensation and rotor position observation precision, a collaborative architecture of a time-varying integral terminal sliding mode control module, a sliding mode disturbance observation module and a self-adaptive phase-locked loop module is constructed, so that the dynamic performance optimization of the system is realized. According to the method, through the dynamic coupling design of the time-varying gain nonlinear reaching law and the fast integral terminal sliding mode surface, the convergence speed and the buffeting suppression requirement are balanced while the disturbance dynamic influence is eliminated; multi-dimensional decoupling observation of external load disturbance is realized based on a hierarchical disturbance observer architecture, and a disturbance real-time suppression path is established in combination with a feed-forward compensation strategy; and constructing an error self-adaptive correction mechanism of rotor position observation by dynamically adjusting a phase-locked loop proportionality coefficient and a phase compensation parameter. The limitation of parameter solidification and observation coupling in traditional control is broken through, the rotating speed tracking stability, the position observation precision and the anti-interference capability under complex working conditions are remarkably improved, and an innovative solution is provided for a high-precision servo driving system.

According to the continuous self-adaptive integral sliding mode leader-following multi-robot affine formation control method based on the event triggering mechanism, distributed control and affine formation strategies are fused, a formation controller with high maneuverability and high robustness is constructed, the event triggering mechanism is introduced to reduce the communication load and the control frequency, and the control efficiency is improved. The method belongs to the technical field of multi-robot intelligent cooperative control. Aiming at the common problem of insufficient formation rigidity and flexibility in a multi-robot formation control task, the invention provides a cooperative control method capable of realizing various affine transformations such as zooming, rotating, shearing, coplanar and collinear, and the cooperative control method has good environmental adaptability and system performance.

The invention discloses a self-adaptive cooperative control strategy based on a variable speed reaching law and a neural network, belongs to the field of intelligent control, and mainly aims at estimating and compensating uncertainty, external disturbance and actuator saturation existing in a queue in queue control and improving the stability, robustness and control performance of the whole queue. The method comprises the following steps: establishing a queue system model with uncertainty, external disturbance and actuator saturation; establishing a Gaussian error function approximation strategy; establishing a tracking error; establishing a variable speed reaching law; establishing a queue integral sliding mode error; establishing a queue coupling sliding mode error; establishing an adaptive parameter estimation mechanism for external disturbance and Gaussian function approximation errors in the queue; establishing a neural network estimation mechanism for uncertainty in the queue; and establishing a queue integral sliding mode control strategy based on a variable speed reaching law, a Gaussian error function approximation strategy, an adaptive parameter estimation mechanism and a neural network estimation mechanism. The method is used for queue cooperative intelligent control.

The invention relates to the technical field of closed-loop drift control, and particularly discloses a closed-loop drift control method and system for an autonomous vehicle in an uncertain environment, and the method comprises the steps: building a vehicle kinematic model based on a Frenet coordinate system, and constructing an MPC path tracking controller with a preview mechanism; establishing a three-degree-of-freedom vehicle dynamics model with additional yawing moment; the method comprises the following steps: establishing a UniTile-Ctrl tire dynamic model; designing a robust drift controller by combining LQR and integral sliding mode control on the basis of the whole vehicle dynamic model and the tire dynamic model, designing a torque distribution module by taking minimization of distribution error and tire load utilization rate as targets on the basis of ideal rear wheel rotating speed and additional yawing moment output by the robust controller, and outputting a torque distribution model; according to the drifting vehicle tracking control method, closed-loop drifting control can be achieved, the drifting vehicle tracking control performance and robustness are improved, and safety guarantee is provided for limit control over the uncertain road surface of the vehicle.

The invention discloses a permanent magnet synchronous motor control method based on self-tuning prediction and a neural network, which aims at the inductance parameter mismatch problem in incremental dead-beat prediction control, adopts an inductance mismatch diagnosis and self-tuning mechanism to dynamically adjust model parameters and weight coefficients, and improves the robustness and dynamic response performance of a current loop. A neural network sliding mode control method is introduced into a speed ring, adaptive compensation of nonlinear disturbance and parameter uncertainty is realized by constructing an integral sliding mode surface and adjusting a sliding mode gain on line, and a stable and reliable current control instruction is output; meanwhile, the observer part constructs an improved super-spiral sliding-mode observer, the electrical angle and d-q axis composite disturbance can be estimated in real time with high precision, effective compensation information is provided for current control, and the overall stability and robustness of the system are further enhanced.

The invention discloses a flexible joint mechanical arm AISMC compensation control method under singular perturbation decomposition, and belongs to the field of flexible joint mechanical arm control, and the method comprises the following steps: S1, building a flexible joint mechanical arm dynamic model containing uncertain composite disturbance, and decoupling the model into a slow variable subsystem and a fast variable subsystem; s2, estimating lumped matching disturbance in the slow varying subsystem by using a compensation function observer; s3, constructing an integral sliding mode surface and a self-adaptive reaching law with dead zone correction for the slow-varying subsystem; designing a linear quadratic regulator for the quick-change subsystem, defining a performance index, and solving a Riccati equation to obtain an optimal control law; s4, superposing the slow-varying subsystem control law and the fast-varying subsystem control law to obtain integral control input; and S5, performing simulation verification. By adopting the flexible joint mechanical arm AISMC compensation control method under singular perturbation decomposition, trajectory tracking precision, robustness and stability are considered, and the method has a wide application prospect.

The invention belongs to the technical field of robot control, and discloses a visual servo intelligent robust control method for a mobile mechanical arm for a complex operation task, which comprises the following steps of: 1, acquiring a working scene image, and calculating a space coordinate of a target feature point in real time through a projection transformation model; step 2, dynamically inhibiting visual measurement noise by adopting adaptive Kalman filtering, generating a feedforward compensation signal through an integral sliding mode observer, and decoupling chassis slippage disturbance; step 3, inputting the pose signal into a radial RBF neural network, designing an RBF gain scheduler, and adjusting an output proportion-integral gain in real time to suppress external time-varying disturbance; 4, adopting a hybrid visual servo mode switching mechanism, and generating a mobile platform control instruction through an integral sliding mode surface in a position servo mode; and 5, designing a three-order composite controller to drive the mechanical arm so as to realize accurate grabbing. According to the method, the grabbing deviation caused by kinematics uncertainty of the mobile platform and dynamic environment disturbance is eliminated.

The invention discloses a TBM cutterhead main drive intelligent decision-making method and system, and belongs to the technical field of cutterhead drive control. Unified regulation and control and target torque distribution of a driving system are realized by constructing a master-slave type multi-driving-unit collaborative architecture; a fault is identified by monitoring a current signal, a voltage vector is reconstructed according to the fault type, and continuous and stable output under the fault is ensured; a disturbance observation method based on an integral sliding mode is provided, and control deviation caused by system disturbance and parameter changes is dynamically estimated and compensated; an MPTA control strategy of high-frequency virtual signal injection is designed, and utilization of reluctance torque and stable tracking of an MTPA working point are achieved; the torque output capacity of a fault unit and the torque margin of a healthy unit are comprehensively considered, a load distribution strategy is planned, and the overall loading capacity and the operation life of the driving system are improved.

The invention relates to the technical field of motor driving, and discloses a brushless motor non-inductive FOC driving method and device, and the method comprises the steps: collecting a first three-phase stator current and a bus voltage of a brushless motor, and calculating a rotor position estimation value; performing coordinate transformation on the first three-phase stator current to obtain a first d-axis actual current and a first q-axis actual current, and calculating a first d-axis current error and a first q-axis current error; calculating a d-axis first-order integral value, a d-axis double-integral accumulated value, a q-axis first-order integral value and a q-axis double-integral accumulated value, and constructing a d-axis double-integral sliding mode surface and a q-axis double-integral sliding mode surface; according to the method, a d-axis compensation voltage instruction is generated based on the d-axis double-integral sliding mode surface, a q-axis compensation voltage instruction is generated based on the q-axis double-integral sliding mode surface, the d-axis compensation voltage instruction and the q-axis compensation voltage instruction are applied to the brushless motor, the problem of magnetic field orientation deviation caused by position estimation lag in non-inductive FOC driving is solved, and the output efficiency of the motor is improved.

A wind power generation system preset time maximum power point tracking control method comprises the following steps: firstly, establishing a wind power generation system dynamic model containing parameter uncertainty and external disturbance, and meanwhile, constructing a preset time convergence integral sliding mode surface; the method has the core advantages that the convergence time can be directly set by controller parameters and is irrelevant to the initial state of the system; secondly, designing a preset time self-adaptive controller based on the rotating speed tracking error and the sliding mode surface, and enabling the rotating speed tracking error to be quickly converged in preset time; the upper bound of lumped uncertainty of the system is estimated online through a self-adaptive mechanism, unknown dynamic and external disturbance are compensated in a unified mode, and dependence on an accurate model and disturbance prior knowledge is not needed; and finally, strictly proving the preset time stability of the closed-loop system through a Lyapunov stability theory. The method has good dynamic response performance and predictable convergence behaviors, and the robustness and the power generation efficiency of the system are improved.

The invention discloses an unmanned ship distributed docking control system and method based on an integral sliding mode strategy, and the system comprises a positioning data obtaining module, an instruction issuing and processing module, an unmanned ship execution module, and an unmanned ship data feedback module. A dynamic communication topology network with environmental adaptability is constructed, anti-interference distributed information distribution is realized through a relay node dynamic distribution mechanism, and the problem of single-point failure of traditional centralized control is solved. Meanwhile, an error integral item is introduced into sliding mode surface design, and the buffeting phenomenon can be effectively reduced through the provided integral sliding mode control strategy. By disassembling the docking task, the expected longitude and latitude information of each member can be calculated respectively, and the expected longitude and latitude information is set as the position information under the follow coordinate system through coordinate conversion, so that the communication resources of the system can be saved to a great extent.

The application discloses a TBM cutter head main drive intelligent decision method and system, and belongs to the technical field of cutter head drive control. By constructing a master-slave type multi-drive unit collaborative architecture, unified regulation and control and target torque distribution of the drive system are realized; by monitoring current signals to identify faults, voltage vectors are reconstructed according to fault types, and continuous and stable output under faults is ensured; a disturbance observation method based on integral sliding mode is proposed, control deviation caused by system disturbance and parameter change is dynamically estimated and compensated; an MPTA control strategy of high-frequency virtual signal injection is designed, utilization of reluctance torque and stable tracking of the MTPA operating point are realized; the torque output capacity of the fault unit and the torque margin of the healthy unit are considered as a whole, a load distribution strategy is planned, and the overall load carrying capacity and operating life of the drive system are improved.

This invention relates to an AUV close-range docking method based on sliding mode adaptive control under ocean current interference. The controller design eliminates decoupling of the AUV's motion and incorporates an integral term in the sliding mode adaptive controller design, employing Integral Sliding Mode Adaptive Control (ISMAC) to minimize chattering during the AUV's approach motion. Finally, in designing the control parameters, overshoot is minimized at the expense of settling time to ensure successful docking. Furthermore, the estimation of ocean current velocity gives the system a certain degree of anti-interference capability, demonstrating its robustness.

The application discloses a permanent magnet synchronous motor speed and current model-free control method based on an improved second-order hyperlocal model, collects three-phase currents of the permanent magnet synchronous motor, constructs a second-order sliding mode observer on a mechanical angular velocity and total disturbance of the system based on an improved second-order hyperlocal model model-free sliding mode speed controller MFSMSC, observes the mechanical angular velocity and the total disturbance of the system, designs an adaptive approach law of a variable boundary layer and a second-order integral sliding mode surface, and obtains a q-axis current reference signal; the q-axis current reference signal is output to a model-free predictive current controller MFPCC based on the improved second-order hyperlocal model, dq-axis reference voltages are obtained, after inverse Park conversion, alpha-beta-axis stator voltage reference vectors are obtained, three-phase inverter switching driving signals are obtained through SVPWM operation, six switching tubes of the three-phase inverter are driven to be turned on and turned off, and then the three-phase winding currents of the permanent magnet synchronous motor are adjusted. The application adopts a classical cascade control architecture with a speed loop outer loop and a current loop inner loop, the improved second-order hyperlocal model improves disturbance estimation accuracy, and the improved second-order hyperlocal model enhances the suppression performance on high-frequency noise, and the MFPCC based on the improved second-order hyperlocal model improves the robustness of the system to motor parameter perturbation.

The application discloses a time-varying state constraint terminal sliding mode tracking control method based on an adaptive network, and relates to the technical field of adaptive control.The method comprises the following steps: step 1, constructing a constraint potential energy error for each actual state of an engineering controlled object; step 2, constructing a fixed rational exponential composite sliding mode variable; all the sliding mode variables of all the actual states of the engineering controlled object form an integral sliding mode surface in a vector layer; step 3, using a single hidden layer radial basis network to perform online approximation on the actual dynamics of the engineering controlled object, introducing the network output as a dynamic compensation item into a control input, so as to ensure that the integral sliding mode surface is driven to zero in a limited time and real-time compensation of the actual state of the engineering controlled object is simultaneously completed. The application realizes limited-time high-precision tracking control of a controlled engineering controlled object with unknown nonlinear and double-sided time-varying boundaries.

The invention provides a finite time optimal cooperative tracking control method based on adaptive dynamic programming, and belongs to the technical field of networked multi-agent control strategies. According to the method, finite time tracking control is realized by taking a high-order all-drive method as a core theoretical basis and combining an integral sliding mode algorithm around a nonlinear multi-agent system. Meanwhile, an optimal performance index is given, an adaptive dynamic programming (ADP) method with an actor-critic neural network as a core architecture is provided, an optimal performance controller is designed to reduce energy consumption, and finally finite-time optimal cooperative tracking control is achieved. The method provided by the invention provides a new thought for the design of the collaborative controller of the nonlinear multi-agent system, and also lays an important theoretical foundation for the practical application of related control schemes.

The invention discloses a current control system and method of a surface-mounted permanent magnet synchronous motor, and belongs to the field of motor control. The system comprises: an extended SPMSM model for uniformly modeling uncertainty factors as disturbance terms, the uncertainty factors comprising parameter mismatch and external disturbance; the fast terminal integral sliding mode disturbance observer is used for estimating and updating a disturbance term according to the state of the extended SPMSM; and the improved sliding mode current controller is used for performing compensation according to the updated disturbance term and generating a control voltage to the inverter in combination with a fast terminal reaching law, and the inverter correspondingly drives the SPMSM. According to the method, collaborative optimization of high-precision current tracking, high parameter disturbance resistance and low buffeting is achieved, and the method is suitable for scenes such as electric vehicle driving and industrial servo which have strict requirements for dynamic performance and reliability.

This invention relates to the field of multi-agent system control. To address the consistency problem faced by networked multi-agent systems, it provides an observer-based multi-agent sliding mode control method and system under communication constraints. The observer-based multi-agent sliding mode control method under communication constraints includes establishing a model of a networked linear multi-agent system subject to external disturbances and with incompletely measurable states, and the communication topology between each agent; constructing distributed sliding mode observers for each agent; constructing an event-triggered mechanism based on exponential decay rate and a logarithmic quantizer model; and combining the distributed sliding mode observer, the event-triggered mechanism, and the logarithmic quantizer model to construct an observer-based event-triggered quantized integral sliding mode control law to control each agent, thereby achieving average consistency of the multi-agent system. It can effectively achieve average consistency of networked multi-agent systems under conditions of unmeasurable states, external disturbances, and limited communication bandwidth.

The application discloses an unmanned ship power positioning integral sliding mode fault-tolerant control method based on a fuzzy system, and comprises the following steps: a mathematical model of unmanned ship movement under an actuator fault is established; a T-S fuzzy model of the unmanned ship corresponding to the mathematical model is established; based on the established T-S fuzzy model of the unmanned ship, an integral sliding mode surface with fault information is constructed; and the asymptotic stability of the sliding mode dynamics of the system is proved by combining the definition of performance index and related lemmas.Aiming at the nonlinear term in the T-S fuzzy model of the unmanned ship, a fuzzy logic method is used to approximate the unknown smooth nonlinear term; based on the constructed integral sliding mode surface with fault information, a suitable Lyapunov function is selected, a fault-tolerant controller and an adaptive law are designed, and the reachability of the system is proved.The application can solve the problem that the resolution and complexity of the T-S model of the unmanned ship are difficult to balance, and can also ensure that the system has robustness from the initial stage.

The invention discloses a control method for improving transient performance of a network-forming converter, and the method comprises the steps: active power control: employing a second-order sliding mode control method, outputting an electromagnetic power reference value based on the construction of an improved integral sliding mode surface and a power angle error determined by an actually measured power angle and a target power angle, and adjusting the active power actually output by the converter; reactive power and voltage control: adopting a switching control method to select a direct voltage control mode or a reactive power-voltage droop control mode based on the relationship between the actual output voltage of the converter and a preset safety voltage threshold; fault transient current suppression: when a power grid fault is detected, inputting dynamic virtual impedance, adjusting the ratio (R / L) of resistance to inductance of the dynamic virtual impedance, and actively changing the total loop impedance characteristic of the output end of the converter; after the voltage of the power grid is recovered, the virtual recovery resistor is put into use, and transient current in the voltage recovery period is suppressed.

The invention relates to the technical field of multi-unmanned aerial vehicle formation fault tolerance, in particular to a multi-unmanned aerial vehicle formation adaptive fuzzy sliding mode fault tolerance control method, which comprises the steps of S1, establishing a multi-unmanned aerial vehicle formation system dynamic model; s2, defining a formation global position tracking error and a speed tracking error based on a navigation-following architecture and a communication topological structure; s3, designing a disturbance interval observer, and estimating upper and lower bounds of unknown external disturbance in real time by establishing a disturbance exogenous model and an auxiliary variable adaptive law; s4, constructing an integral sliding mode surface based on a preset performance function, performing adaptive approximation on the lumped uncertain item by adopting a fuzzy logic system, and designing an adaptive fuzzy sliding mode fault-tolerant controller; and S5, proving that the formation tracking error is gradually converged to zero in finite time through Lyapunov stability analysis. When the unmanned aerial vehicle breaks down, reliable transmission of task information and formation keeping can be guaranteed, good robustness and environmental adaptability are achieved, and the stable control performance of the unmanned aerial vehicle in a complex task scene is effectively improved.

The invention relates to a tubular reactor temperature control method under the perspective of a singular partial differential equation. The method comprises the following steps: establishing a tubular reactor temperature concentration reaction rate system model described by a singular partial differential equation system; simplifying the temperature concentration reaction rate system model of the tubular reactor into a singular partial differential equation system; carrying out approximate linearization on the singular partial differential equation system through a fuzzy method, and designing an integral sliding mode surface containing a singular matrix; designing a sliding mode controller; and respectively analyzing the sliding mode motion accessibility and the index tolerance of the singular partial differential equation system based on a Lyapunov method to obtain a sliding mode controller gain, and applying the sliding mode controller gain to the sliding mode controller to complete the control of the temperature of the tubular reactor. According to the method, the defect that a traditional bivariate model cannot explicitly represent dynamic coupling of the reaction rate can be thoroughly overcome, the inhibition capability on the temperature runaway phenomenon is improved from the source, and the safety accident risk is remarkably reduced.

The invention discloses a synchronous generator rotor position sensor fault detection method, device and equipment, and the method comprises the steps: estimating the counter electromotive force of a generator through a second-order generalized integral sliding-mode observer, extracting the estimation values of the rotor position and the rotating speed from the counter electromotive force, and enabling the estimation values to serve as the standby output of a position sensor, when the sensor is abnormal, the abnormality can be found in time by judging the magnitude of the residual error, a standby signal is switched, and safe and stable operation is realized in a position-sensor-free state, so that the safety and reliability of the system are effectively improved; the second-order generalized integral sliding mode observer is a back electromotive force observer, a transfer function of the observer shows band-pass filtering characteristics, indifference estimation of the rotor position can be achieved, meanwhile, the system does not need to be additionally provided with a low-pass filter, and the control structure is simplified.

The invention discloses a control method, system and device of an air cushion boat and a readable storage medium, and the method comprises the steps: building a course control model, a longitudinal speed control model and a transverse speed control model of the air cushion boat based on an established three-degree-of-freedom dynamic model, obtaining the disturbance variable, processing the three-degree-of-freedom dynamic model through a backstepping method, and obtaining the disturbance variable of the air cushion boat. Obtaining an expected motion control track and an expected bow turning angular velocity of the air cushion boat; on the basis of the disturbance variable, the integral sliding modulus calculated based on the sliding mode algorithm and the saturation compensation quantity, the bow turning moment, the longitudinal speed and the transverse speed of the air cushion boat are obtained; and based on the Lyapunov stability theory, the air cushion boat is controlled through control signals generated by the expected motion control track, the expected bow turning angular speed, the bow turning torque, the longitudinal speed and the transverse speed. According to the control method of the air cushion boat provided by the embodiment of the invention, the course direction of the air cushion boat can be accurately controlled.

The invention discloses an engineering vehicle walking torque distribution and driving anti-skid control method and system, and belongs to the technical field of engineering vehicle control. The method comprises the steps that pedal, gear and wheel speed signals of a vehicle are collected, segmented nonlinear reanalysis and walking mode identification are carried out, preliminary distribution and constraint of four-wheel driving or braking energy recovery torque are carried out, and a four-wheel initial torque request is generated; anti-skid reference tracking wheel speed is generated based on the vehicle state, the actual wheel speed of each wheel is compared with the reference wheel speed, the rotation state of each wheel is independently identified in a distributed mode in combination with the opening degree of an accelerator, and an identifier is output; and when there is wheel slip, calculating a torque takeover value based on a robust integral sliding mode control algorithm by taking the reference wheel speed as a target, and taking a small value of the torque takeover value and an initial torque request of a corresponding wheel as final output. The problem that traditional anti-skid control fails near zero speed is solved, and full-working-condition and high-precision self-adaptive driving anti-skid control is achieved.

The invention provides a maneuvering control method for a multi-axle off-road vehicle around any circle for inhibiting nonlinear disturbance, which comprises the following steps: enabling any expected trajectory to be tracked by the multi-axle off-road vehicle to be equivalent to a combination of circular trajectories around different circle centers, and calculating an ideal turning radius; determining an expected side slip angle and an expected yaw velocity required for tracking each circular trajectory in combination with the longitudinal velocity of the vehicle; by taking sensitivity minimization as an optimization target, solving an optimal inter-axis rotation angle proportional relation used for maneuvering control around any circle, and determining a feed-forward rotation angle of each steering shaft in combination with an expected side slip angle and an expected yaw velocity; on the basis of an integral sliding mode control theory, through a virtual control quantity distribution strategy, all steering shaft compensation rotation angles used for restraining vehicle parameter uncertainty and external disturbance are generated; and superposing the feed-forward rotation angle and the compensation rotation angle to generate a final control rotation angle of each steering shaft, sending the final control rotation angle to a steering execution system of the multi-shaft off-road vehicle, and driving the vehicle to complete maneuvering control around any circular trajectory.

A kind of water unmanned ship motion control method and system based on PID integral sliding mode, by constructing unmanned ship physical model and obtaining simulation output information by system input, by calculating the error of simulation output information and expected output and using PID-based integral sliding mode control algorithm, the expected adjustment force and torque control signal is obtained, which is transmitted to the actuator to realize unmanned ship motion control.The present application combines PID control with sliding mode control, further combines the proportional, integral and differential elements with the sliding surface, so that the controller can flexibly adjust the control parameters under different dynamic characteristics requirements, while effectively accelerating the convergence speed of the system, with portability and deployability.

The invention relates to the field of commercial aircraft control, in particular to a robust longitudinal tracking control method for a commercial aircraft in a climbing stage based on an event trigger mechanism, which comprises the following steps: step 1, on the basis of a hypothesis of a small attack angle, considering system uncertainty including unmodeled dynamics and exogenous disturbance, and determining a minimum attack angle; establishing a commercial aircraft state space model; 2, designing an integral sliding mode surface and a controller based on a disturbance term of the commercial aircraft state space model, and carrying out disturbance adaptive estimation; 3, designing a sliding mode controller based on a backstepping method based on the disturbance term estimation value, and ensuring that the tracking error of the flight path angle of the aircraft can be converged to 0; 4, designing a dynamic switching event triggering mechanism based on the stable system to ensure that the system can be asymptotically stable; 5, applying to a longitudinal tracking control strategy of the commercial aircraft; accurate longitudinal attitude tracking control of the commercial aircraft can be realized under an event triggering framework.